The invention relates to the technical field of vehicles, in particular to a lane keeping method and device, a vehicle and a storage medium, and the method comprises the steps: obtaining lane line parameters of a lane where the vehicle is located and the longitudinal driving speed of the vehicle; determining a lane line equation of a lane where the vehicle is located according to the lane line parameters, determining a preview distance according to the longitudinal driving speed, and determining a transverse deviation between a preview point and the vehicle according to the lane line equation and the preview distance; determining a target steering wheel angle of the vehicle according to the transverse deviation and the preview distance, and controlling the vehicle to run according to the target steering wheel angle. Therefore, the problem that a driver is prone to lane departure under the fatigue condition is solved, vehicle lane keeping auxiliary centered driving is achieved, and the driving safety and the flexibility of a lane keeping auxiliary system are improved.
本申请涉及车辆技术领域,特别涉及一种车道保持方法、装置、车辆及存储介质,其中,方法包括:获取车辆所处车道的车道线参数和车辆的纵向行驶速度;根据车道线参数确定车辆所处车道的车道线方程,根据纵向行驶速度确定预瞄距离,根据车道线方程和预瞄距离确定预瞄点与车辆的横向偏差;根据横向偏差和预瞄距离确定车辆的目标方向盘转角,根据目标方向盘转角控制车辆行驶。由此,解决驾驶员容易在疲劳状况下造成的车道偏离的问题,实现车辆车道保持辅助居中行驶,提高驾驶安全性和车道保持辅助系统的灵活性。
Lane keeping method and device, vehicle and storage medium
车道保持方法、装置、车辆及存储介质
2024-09-10
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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